基于机载光电平台的双机交会定位方法

左羽佳; 白冠冰; 刘晶红; 宋悦铭; 孙明超

doi:doi:10.3788/gzxb20174609.0912003

光子学报, 2017, 46 (9): 0912003, 网络出版: 2017-10-16

基于机载光电平台的双机交会定位方法

Two-UAV Intersection Localization Based on the Airborne Optoelectronic Platform

论文大纲

左羽佳 ^1,2,*白冠冰 ^1,2刘晶红 ¹宋悦铭 ¹孙明超 ¹

作者单位

¹ 中国科学院长春光学精密机械与物理研究所，长春 130033

² 中国科学院大学，北京 100049

摘要

根据现有无人机光电定位方法对动态目标定位的局限性，借鉴光电经纬仪角度交会定位方法，提出改进的基于机载光电平台的双机交会定位系统.介绍了交会定位系统的构成及其工作原理，构建辅助坐标系，对视轴向量进行齐次坐标转换，建立双机交会定位模型.研究了交会定位中载机相对目标位置对定位精度的影响，给出了理想的测量位置，得到最优定位位置，最优交会角为69.984°.最优位置下，当目标距离双机基线20 km时，定位均方根误差为38.043 4 m.分析了卡尔曼滤波对定位结果的影响，建立合适的滤波模型，滤波后的定位均方根误差减小到13.584 2 m.

Abstract

To address the limitation of existing unmannedaerialvehicle photoelectric localization method used for moving objects, this paper proposes an improved two-unmannedaerialvehicleintersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the light of sight vectorsinto homogeneous coordinates, and establishes a two-unmannedaerialvehicle intersection localization model. In this paper, the influence of the positional relationship between unmannedaerialvehicles and the target on localization accuracy has been studied in details to obtain an ideal measuring position and the optimal localization positionwhere the optimal intersection angle is 69.984°. Given the optimal position, the localization root-mean-square error will be 38.043 4 m when the target is 20 km away fromunmannedaerialvehicle baselines. Finally, the influence of Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization root-mean-square error to 13.584 2 m.

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左羽佳, 白冠冰, 刘晶红, 宋悦铭, 孙明超. 基于机载光电平台的双机交会定位方法[J]. 光子学报, 2017, 46(9): 0912003. ZUO Yu-jia, BAI Guan-bing, LIU Jing-hong, SONG Yue-ming, SUN Ming-chao. Two-UAV Intersection Localization Based on the Airborne Optoelectronic Platform[J]. ACTA PHOTONICA SINICA, 2017, 46(9): 0912003.

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